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Context transfer and Q-Transferable tasks 29

Context transfer and Q-Transferable tasks

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29th AAai Conference on Artificial Intelligence, AAai 2015

作者： Mousavi, Amin Araabi, Babak Nadjar Ahmadabadi, Majid Nili Robotics and AI Lab Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Iran School of Cognitive Science Tehran Iran

ISBN: (纸本)9781577357209

This article discusses the notion of context transfer in reinforcement learning tasks. Context transfer, as defined in this article, implies knowledge transfer between tasks that share the same environment's dynamics and reward function, but have different state and action spaces. For example, we have a working mobile robot in an environment. At some point, we decide to upgrade its sensors and/or actuators. Any change in these modules will result in a different description of the agent- environment model, and the trained knowledge is no longer applicable. We consider the tasks of the old and new robots, as the source and target tasks, respectively. The Markov decision process (MDP) of these tasks, under certain conditions, are called Q-transferable tasks, and the problem of knowledge transfer between them is called context transfer. We investigate the relation of the MDPs of these tasks. Copyright © 2015, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Markov processes

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A new architecture to execute CAs-based path-planning algorithm in mobile robots

A new architecture to execute CAs-based path-planning algori...

引用

2006 IEEE International Conference on Mechatronics, ICM

作者： Akbarimajd, Adel Lucas, Caro Robotics and AI Lab. Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)0780397134

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts;it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts © 2006 IEEE.

关键词： Algorithms

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A distributed deterministic help scheme to improve the system fault tolerance

A distributed deterministic help scheme to improve the syste...

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Proceedings of the Biannual World Automation Congress

作者： M.S. Mirian M.N. Ahmadabadi Control and Intelligent Processing Center of Excellence and AI and Robotics Laboratory Department of ECE University of Tehran Iran

This paper proposes some methods to improve the fault-tolerance in distributed systems specifically in deterministic situations by distributed decision-making and coordination. Providing a distributed system with fault tolerance is a feasible but hard problem due to the intrinsic aspects of such systems such as: independency, unpredictability and communication problem. A multi-agent system as an instance of distributed system, can handle different kinds of fault by using traditional fault tolerance techniques. But what focused in this paper are agent-based techniques. In fact proposed methods are based on agent-based help provision by distributed cooperation among helper agents. The helpers try to tune their normal roles such that they can undertake the faulty agents' tasks too. These helpers go through a sub-optimal task selection algorithm, to decide whom to help. It is important to remark that there is no explicit interaction; instead they coordinate their decisions implicitly by adopting the most appropriate task in terms of their speed, relative reliability and the task's criticality coefficient. Proposed ideas are tested on a DCS-like tested to improve its fault tolerance. The results illustrate the effectiveness of the approaches in comparison to the case of no help situation and the case of using purely redundant components.

关键词： Fault tolerant systems Multiagent systems control systems Distributed decision making Redundancy Power system reliability Process control intelligent control Artificial intelligence Testing

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Is There any Analogy Between Foot Stability and Dynamic Grasp?

Is There any Analogy Between Foot Stability and Dynamic Gras...

引用

2008 IEEE/RSJ International Conference on intelligent Robots and Systems, Pages 526-1042

作者： Adel Akbarimajd Majid Mili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence ECE Department University of Tehran Iran

ISBN: (纸本)9781424420575

Similarities between foot stability in single support phase of dynamic legged locomotion and dynamic grasp during nonprehensile carrying of an object on a palm are studied. Both foot stability and dynamic grasp conditions are driven mathematically. Then it is shown that these two conditions share the same basic dynamical concepts. It is also revealed that dynamic grasp and foot stability conditions have structurally the same equations when the palm -in object manipulation- and the ground -in legged locomotion- are horizontal. In this situation, parameters of the equations are very similar. It is demonstrated that the effects of violation of foot stability and dynamic grasp conditions are behaviorally the same. In addition to analytical discussions, some simulation examples in ADAMS are provided to validate the presented models and the results.

关键词： Foot Stability analysis Robots Legged locomotion Manipulator dynamics Robot kinematics Sufficient conditions

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Learning Cooperative Object Pushing with Variable Contact Point

Learning Cooperative Object Pushing with Variable Contact Po...

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2007 IEEE/ASME International Conference on Advanced intelligent Mechatronics, Pages 805-1210

作者： Abdol Hossein Aminaiee Majid Nili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence Department of Electerical and Computer Engineering University of Tehran

ISBN: (纸本)9781424412631;1424412633

Learning in multi-agent environments where each agent's action directly affects other agents would be an important matter and a complicated task. To reduce the learning time and simplifying the learning process, it is suitable to learn individual skills and then provide cooperation and coordination utilizing the learned individual skills. In the approach proposed in this paper, agents benefit from their individual knowledge obtained in the individual learning phase to cooperate with other agents. Cooperative object pushing system is used as a testbed to our proposed method where cooperation and coordination between agents are needed in these systems. Agents independently learn to push the object to the target by using the proposed fuzzy reinforcement learning method. Agents attain their cooperative behaviors properly making use of the coded knowledge in the Q-table. Simulation and experimental results show that by interpreting the knowledge in the Q-table, agents can achieve high level behaviors with a high degree of cooperation.

关键词： Agents Learning Point contacts pushing variable contact

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Fuzzy controller for cooperative object pushing with variable line contact

Fuzzy controller for cooperative object pushing with variabl...

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International Conference on Mechatronics (ICM)

作者： Mahsa Aliakbar Golkar Sarah Taghavi Namin Hossein Aminaiee Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran

Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

关键词： Fuzzy control Robot kinematics Protocols Fuzzy systems Electric variables control control systems Multirobot systems Path planning Inference algorithms Mobile robots

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Wheeled-tip object manipulation: Modeling and motion planning of throwing an object

Wheeled-tip object manipulation: Modeling and motion plannin...

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IEEE International Conference on robotics and Biomimetics

作者： S. Parastegari M. Nili Ahmadabadi E. Noohi H. Moradi Robotics and AI Laboratory Control & Intelligent Processing Center of Excellence University of Tehran Tehran Iran University of Tehran Tehran Iran

ISBN: (纸本)9781467321259

In this paper we address the task of throwing an object on a plane using a wheeled-tip robot. Wheeled-tip robots constitute of one or more artificial fingers with an active wheel at the end of each finger that acts as its fingertip. This class of robots may be used for the task of transfer-throwing objects. In this task, the robot transfers the object for a while, giving it required velocity and then throws it toward a defined goal. The use of wheeled-tip robot in a transfer-throwing task has some advantages in practice and with respect to a typical robot. The wheel at the tip of the robot finger can move independently on the object and gives it the desired velocity at the time of throwing the object. Here we present an algorithm of a planner for throwing objects on a plane using a wheeled-tip robot. We show how using the ability of moving the wheel on the object leads to capability of overcoming joint velocity limits, making this class of robots proper for doing the task.

关键词： Throwing an Object Motion- Planning Wheeled-tip Manipulator

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Manipulation by Juggling of Planar Polygonal Objects Using Two 3-DOF Manipulators

Manipulation by Juggling of Planar Polygonal Objects Using T...

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2007 IEEE/ASME International Conference on Advanced intelligent Mechatronics, Pages 805-1210

作者： Adel Akbarimajd Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics and AI Lab. ECE Department University of Tehran Iran

ISBN: (纸本)1424412633

Dynamic object manipulation of planar polygonal objects using two 3-DOF planar manipulators is studied. The object rests on the palm of a manipulator and the manipulator throws the object into kinematical workspace of the other one. The second manipulator catches the object and carries it into the goal configuration. Manipulation task is modeled and dynamic grasp condition is obtained for the instances that the manipulators carry the object on their palms. In addition, a manipulation planning strategy is devised. The planning strategy uses time of free flight as a free parameter to determine the throw and catch states. Proposed manipulation method is verified by a set of simulations in ADAMS+SIMULINK.

关键词： Nonprehensile Manipulation Dynamic object manipulation Multirobot object manipulation Juggling

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Two Dimensional Dynamic Manipulation of a Disc Using Two Manipulators

Two Dimensional Dynamic Manipulation of a Disc Using Two Man...

引用

IEEE International Conference on Mechatronics and Automation

作者： Borhan Beigzadeh Majid Nili Ahmadabadi Ali Meghdari Center of Excellence in Design Robotics and Automation (CEDRA) ME Department Sharif University of Technology Iran Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory ECE Department University of Tehran Iran

In this paper, we analyze a dynamic object manipulation (DOM) problem; throwing upward and catching a disc using two planar manipulators. The manipulators control the disc xy position dynamically and use its angular movement as a free parameter. We use a simple model for the system. Each manipulator has three links and three active joints. In addition, the disc has considerable radius and mass. Therefore, we design a simple mechanism in the palm to damp a portion of the impact

关键词： Manipulator dynamics robotics and automation intelligent robots Leg Grippers Motion planning Humans Design automation Process control Force control

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Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR)

Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Baghani M.N. Ahmadabadi A. Harati Robotics and AI Lab Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran

This paper is concerned with the derivation of the kinematics model of the University of Tehran-Pole Climbing Robot (UT-PCR). As the first step, an appropriate set of coordinates is selected and used to describe the state of the robot. Nonholonomic constraints imposed by the wheels are then expressed as a set of differential equations. By describing these equations in terms of the state of the robot an underactuated driftless nonlinear control system with affine inputs that governs the motion of the robot is derived. A set of experimental results are also given to show the capability of the UT-PCR in climbing a stepped pole.

关键词： Climbing robots Wheels Mobile robots Robot kinematics Road transportation intelligent robots Inspection Cleaning Artificial intelligence Stability

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